基于有限状态机的空间对接仿真平台控制系统设计.PDF

29 4 机器人 ROBOT V o.l 29, N o. 4 2007 7 Ju ly, 2 007 : 100220446( 2007) 0420 378206 * 1, 2, 3 1 1, 2 1, 2 武楠 , 房立金 , 姜春英 , 张飞 ( 1. , 1100 16; 2. , 100049; 3. , 273165) : , . , . 10 m s , 10 m s , . . : ; : TP 24 : B Control System Design of a Space Docking Sim ulation Platform Based on F inite StateM achine 1, 2, 3 1 1, 2 1, 2 WU N an , FANG L 2j n , JIANG Chun2y ng , ZHANG F e ( 1. R obotics L aboratory, Shenyang Institute of A utomation, Ch ineseA cademy of Sc iences, Shenyang 1100 16, Ch ina; 2. Graduate S chool of the Ch inese A cademy of S ciences, B eij ing 100049, Ch ina; 3. Colleg e of Com uter S cience, Quf uN orma l Un iv ersity, Quf u 273165, Ch ina) Abstract: Th s paper presents a contro l sy stem des gn m e thod for a 52DOF space dock ng s mu la t on platfo rm based on h e rarch cal f n te state mach ne, and g ves an extended def n t on fo r state m ach ne. W e add an aggreg at on o f var ab les de2 f ned n the states, enabl ng the system code to be eas ly mp lem ented. A cco rd ng to the f xed tm e n terrupt w h ch s g ene2 rated every 10 m s by the con tro l system, w e keep d v d ng the h erarchy o f the state m ach ne unt lw e can ana ly ze the states, trans t on, an